Module Map

GeneLab's public modules map to the part of the system they own — useful when the change is known but the right import path is not.

Public facade

Module	Use it for	Typical imports
genelab.lab	Stable, snapshot-guarded user-facing facade for configs, registries, scene objects, sensors, actuators, terrains, and extension loading. Public names are resolved lazily on first access.	TaskCfg, ManagerBasedEnvCfg, ArticulationCfg, SensorCfg, register_* via registries
genelab	Lightweight package root. It lazily re-exports a few top-level types without importing torch.	__version__, TaskCfg, ManagerBasedEnvCfg

Prefer genelab.lab in notebooks, downstream tasks, and examples unless a lower-level module is documented as the owner of the API in question.

Discovery and dispatch

Module	Responsibility
genelab.registry	ROBOTS, ENVS, TASKS, RegistryEntry, registration helpers, entry-point loading, explicit extension imports.
genelab.cli	Typer/Rich CLI: cache, list, info, play, train, prof, project new.
genelab.cache	Creates project-local cache directories for Genesis, Quadrants, and Matplotlib.

Configuration and MDP

Module	Responsibility
genelab.configs	Core dataclasses: SimulationCfg, InteractiveSceneCfg, ManagerBasedEnvCfg, TaskCfg, and apply_overrides.
genelab.contracts	Domain ports for concrete env/scene implementations: EnvContext, SceneContext, and the canonical NoiseCfg base.
genelab.envs.manager_based_rl_env	Genesis-backed ManagerBasedRlEnv and ManagerBasedRlEnvCfg.
genelab.managers	Manager and term cfg types for actions, commands, observations, rewards, terminations, events, curricula, and metrics.
genelab.mdp	Reusable MDP functions for observations, rewards, terminations, events, curricula, metrics, noise, actions, commands, and domain randomization.

Simulation objects

Module	Responsibility
genelab.scene	InteractiveScene, the owner of the live Genesis scene.
genelab.entity	Articulation, RigidObject, and their config dataclasses.
genelab.actuator	Implicit PD, ideal PD, and DC motor actuator models.
genelab.sensor	Base sensor API and built-in body velocity, IMU, camera, contact, ray-cast, frame transformer, terrain height, self-contact, and angular momentum sensors.
genelab.terrains	Sub-terrain configs, terrain grid generation, and terrain import into Genesis.
genelab.asset_zoo	Curated robot asset configs and motion asset fetchers. This is bundled content, not the core abstraction boundary.

Training and experiment I/O

Module	Responsibility
genelab.rl	RSL-RL configs, VecEnv wrapper, train_task, play_task, distributed helpers, and profiler integration.
genelab.recording	Declarative recording configs for plots, files, and camera video.
genelab.bridges	Runtime input/control bridges, including keyboard twist and in-viewport ImGui twist controls.
genelab.utils	Math and asset download helpers used by higher-level modules.

Choosing the right layer

Goal	Start here
Register a new robot, env, or task	genelab.registry, then Build an Extension Project
Add observations, rewards, or terminations	genelab.managers, genelab.mdp, then Managers and MDP terms
Add a sensor	genelab.sensor, then Sensors
Change training or replay	genelab.rl, then Run RL Experiments
Look up signatures and defaults	API Reference